Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

<div>Comparative verifications with different simulation tools. (a) Lateral velocity at constant speed and 0.4 Hz steering. (b) Global trajectory at constant speed and 0.4 Hz steering.</div>

Journal of Advanced Transportation

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Figure 5

Figure 5: Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather 